US10962032B2

US10962032B2 - Apparatus for controlling a hydraulic machine

Info

Publication number: US10962032B2
Application number: US16/497,187
Authority: US
Inventors: Thomas Zeller; Rouven Hohage
Original assignee: Voith Patent GmbH
Current assignee: Voith Patent GmbH
Priority date: 2017-03-29
Filing date: 2018-02-08
Publication date: 2021-03-30
Anticipated expiration: 2038-02-08
Also published as: CA3058355A1; EP3601806B1; EP3601806A1; CN110520634B; CN110520634A; DE102017106700B3; WO2018177641A1; CA3058355C; US20200096015A1

Abstract

An apparatus for controlling a hydraulic machine, for example a turbine, pump or pump turbine, using variable-speed driven fixed displacement pumps. The apparatus includes a device for carrying out an emergency shut-off that is characterized by low energy consumption and high efficiency while guaranteeing all the operation-relevant and safety-relevant requirements of a hydraulic machine.

Description

BACKGROUND OF THE INVENTION Field of the Invention

The invention relates to an apparatus for controlling a hydraulic machine, and in particular to an apparatus for controlling a turbine, a pump or a pump turbine.

Conventional apparatuses for controlling a hydraulic machine are known from the general prior art. For example, DE 27 13 867 A1 describes one such apparatus (see FIG. 3), which comprises a pressure oil source, a hydraulic servo motor (hydraulic cylinder) and control valves for metering the energy to adjust the hydraulic cylinder. As a rule, the pressure oil source is an reservoir for the hydraulic medium under overpressure. The reservoir must be filled, and brought to and kept at the required working pressure, with the aid of pumps.

An apparatus for opening and closing the guide vanes of a hydraulic machine is also known from DE 10 2013 212 937 A1, in which variable-speed hydraulic fixed displacement pumps are used. In this document, only the fundamental mode of operation of such an apparatus is disclosed.

SUMMARY OF THE INVENTION

The object of the present invention is to provide an apparatus for controlling a hydraulic machine in which variable speed hydraulic fixed displacement pumps are used, and which ensures the requirements of a hydraulic machine are met, for example with regard to actuating times, emergency closing properties—even in the event of pump failure, suitability for large hydraulic cylinder volumes, etc. Compared to conventional apparatus, the solution according to the invention is characterized by high energy efficiency, good environmental compatibility, ease of maintenance and low acquisition and operating costs.

According to the invention, this object is accomplished by an apparatus for controlling a hydraulic machine having the features as claimed. Further advantageous configurations of the apparatus according to the invention are set forth in the dependent claims that depend therefrom.

BRIEF DESCRIPTION OF THE DRAWING

The solution according to the invention is explained below with reference to the drawing. The drawing illustrates the following, specifically:

The FIGURE shows a schematic structure of an apparatus according to the invention

DESCRIPTION OF THE INVENTION

The FIGURE shows a schematic representation of an apparatus for controlling a hydraulic machine according to the invention. The apparatus comprises a collecting and equalizing tank marked 1, a pump assembly marked 2, a variable speed pump drive marked 3, a reservoir marked 5, a hydraulic cylinder marked 6, an emergency shut-off slide marked 71, an emergency shut-off solenoid valve marked 72, two unlockable check valves marked 81 and 82, two pilot valves marked 91 and 92, three throttles marked 10, 11 and 12, a check valve marked 14, an optional solenoid valve marked 20, two optional pressure relief valves marked 30 and 31, and two optional ports marked 40 and 50. The arrow below the hydraulic cylinder 6 indicates its closing direction.

The hydraulic cylinder 6 may, for example, be the guide wheel hydraulic cylinder or the hydraulic cylinder for adjusting the runner blades of a hydraulic machine. Such hydraulic cylinders often require large volumes of hydraulic fluid for operation. The hydraulic cylinder 6 may be designed as a synchronous cylinder, as indicated in the FIGURE by the dashed second rod. However, the hydraulic cylinder 6 may also be designed as a differential cylinder with different volumes for the closing and opening sides.

The pump assembly 2 comprises two pumps with a reversible pumping direction. In the FIGURE, the two pumps are arranged on a shaft that is driven by the pump drive 3. However, other structural configurations are also possible; for example, the pumps may be driven by the pump drive 3 by means of a gear. It is also conceivable that the pump drive 3 would respectively comprise a motor and a frequency converter for each of the two pumps. The further description refers to the embodiment shown in the FIGURE. In the position of the emergency shut-off slide 71 shown in the FIGURE, one port of each pump is respectively connected to a control line of the hydraulic cylinder, so that in one direction of rotation of the shaft, one pump pumps hydraulic fluid toward the hydraulic cylinder 6 and the other pump receives hydraulic fluid from the hydraulic cylinder 6. In the other direction of rotation of the shaft, the reverse is the case. In the FIGURE, the right-hand port of the lower pump is connected (via the unlockable check valve 82) to the opening side of the hydraulic cylinder 6 and the left-hand port of the upper pump is connected (via the unlockable check valve 81) to the closing side of hydraulic cylinder 6. The other ports of the pumps are respectively directly connected to the collecting and equalizing tank 1. In other words, in one direction of rotation of the shaft the lower pump pumps hydraulic fluid from the collecting and equalizing tank 1 into the opening side of the hydraulic cylinder 6, and at the same time the upper pump pumps hydraulic fluid from the closing side of the hydraulic cylinder 6 into the collecting and equalizing tank 1. In the other direction of rotation of the shaft, the volume flows are reversed. If the delivery volumes of the two pumps are the same, this means that ultimately no hydraulic fluid flows into or is withdrawn from the collecting and equalizing tank 1 (see below regarding the synchronous cylinder). In the other case, only the differential delivery of the pumps is transferred to or removed from the collecting and equalizing tank 1 (see below regarding the differential cylinder). It is assumed here that the

respective check valves

81 and 82 are unlocked (see below in the description of the operating conditions).

If the pumps used have marked pressure and suction ports, the pressure ports should preferably always be connected to the hydraulic cylinder 6 and the suction ports to the collecting and equalizing tank 1.

The shaft of the pump assembly 2 is driven by the variable speed pump drive 3, which may be operated in both directions of rotation. The pump drive 3 usually comprises an electric servo motor that is electrically fed by a frequency converter.

The

unlockable check valves

81 and 82, which are arranged in the connecting lines of the hydraulic cylinder 6 with the pump assembly 2 in such a way that they prevent movement of the piston of the hydraulic cylinder in the non-unlocked state, are respectively connected to one of the

pilot valves

91, 92. These are respectively connected (via the valves 20 and 72) to the reservoir 5. Opening a

pilot valve

91, 92 thus causes unlocking of the associated

check valve

81, 82. Opening the

pilot valves

91, 92 is accomplished by the (electric) controller of the hydraulic machine energizing them. Each of the

pilot valves

91, 92 may be energized separately.

In the “emergency shut-off” or “quick-closing” operating mode, i.e. when the emergency shut-off slide 71 is in a position other than that shown in the FIGURE, the reservoir 5 is connected to the closing side of the hydraulic cylinder 6. In these two operating conditions, the collecting and equalizing tank 1 is also connected to the opening side of the hydraulic cylinder 6. The state of the emergency shut-off slide 71 is controlled via the emergency shut-off solenoid valve 72, which is located in a hydraulic line between the emergency shut-off slide 71 and the reservoir 5. The emergency shut-off solenoid valve 72 is also located in the lines between the

pilot valves

91, 92 and the reservoir 5. The (spring-loaded) emergency shut-off solenoid valve 72 is always permanently energized during operation, and as a result, the emergency shut-off slide 71 is in the position shown in the FIGURE, the reservoir 5 supplies the

pilot valves

91, 92 with oil pressure (i.e. the

check valves

81, 82 may be unlocked in this state by the pilot valves 91, 92).

The emergency shut-off slide 71 is designed so that, in the position shown in the FIGURE, it connects the corresponding ports of the pumps of the pump assembly 2 to the ports of the hydraulic cylinder 6, while the collecting and equalizing tank 1 and the reservoir 5 are decoupled from the hydraulic cylinder, and in its other position, the pumps of the pump assembly 2 are decoupled from the hydraulic cylinder 6 and connect the collecting and equalizing tank 1 to the opening side and connect the reservoir 6 to the closing side of the hydraulic cylinder 6. The FIGURE shows that the emergency shut-off slide is pressurized on both sides with the pressure of the reservoir 5. In this case, the effective area on which this pressure acts must be selected so as to be of different magnitudes on the respective sides. The area on the right side is larger, which means that if the emergency shut-off solenoid valve 72 is energized, the emergency shut-off slide 71 is in the position shown in the FIGURE. If the emergency shut-off solenoid valve 72 is de-energized, the reservoir 5 is separated from the right-hand side of the emergency shut-off slide 71 and the emergency shut-off slide 71 is pushed to the other position by the forces acting on the left-hand side.

The throttle 10, also called the “basic throttle”, is located in the line connected to the opening side of the hydraulic cylinder 6 before the emergency shut-off slide 71, i.e. in the immediate vicinity of the hydraulic cylinder 6. The throttle 11 is located in the line connecting the reservoir 5 to the remaining part of the apparatus. The throttle 12 is located in the line between the emergency shut-off slide 71 and the collecting and equalizing tank 1. One of the two

throttles

11 or 12 should be regarded as optional (see discussion of emergency shut-off function).

A line is also provided that connects one of the lines that runs from the pump assembly 2 to the hydraulic cylinder 6 with the reservoir 5. In this line, the check valve 14 is arranged so that no hydraulic fluid is able to pass from the reservoir 5. The FIGURE shows only one of a plurality of possible alternatives, i.e. the case in which the line with the check valve 14 connects the corresponding port of the upper pump with the reservoir 5. The line with the check valve 14 may also be connected to the corresponding port of the lower pump. For that purpose, the line with the check valve 14 may open into any point of the lines from the pump assembly 2 to the hydraulic cylinder 6.

Optionally, the apparatus may also comprise other emergency shut-off control valves (for example an overspeed valve, etc.). These valves may be connected via the port 50 that is located in the same hydraulic line as the emergency shut-off solenoid valve 72.

Optionally, additional consumers may be connected to the reservoir 5 via the port 40. The port 40 is located in the hydraulic line that connects the reservoir 5 with the remainder of the apparatus.

In the following, the modes of operation of the apparatus according to the invention in the individual operating states of the hydraulic machine are described in greater detail, and the advantages of the apparatus are explained. The initial state is assumed to be that the reservoir 5 is charged with a defined pressure and the hydraulic cylinder 6 is in any intermediate position.

Control Operation of the Hydraulic Machine:

The emergency shut-off slide 71 is in the position shown in the FIGURE because the emergency shut-off solenoid valve 72 is energized.

The

pilot solenoid valves

91, 92 controlled by the controller of the hydraulic machine are in the de-energized state for as long as the position of the hydraulic cylinder 6 is to be maintained. As a result, the

unlockable check valves

81, 82 in the control lines to the opening and closing sides of the hydraulic cylinder 6 are likewise closed and the cylinder 6 is held in its position. In this state, the variable speed drive 3 is switched off, so that no lost energy (heat) is introduced into the system. As a result, oil cooling may in principle be dispensed with, which affords the advantage of significantly better energy efficiency.

If a control process becomes necessary (for example, setpoint change or the control deviation exceeding a certain value (dead band)), the

pilot valves

91 and 92 are energized via the controller, which leads to the opening of the unlockable check valves. The hydraulic cylinder may now be positioned directly over the variable speed pump drive 3. If the hydraulic cylinder 6 is designed as a synchronous cylinder, the pump assembly 2 takes in the same amount of oil on the suction side as is introduced into the cylinder on the pressure side. In this case, the two pumps in the pump assembly 2 have identical delivery volumes. If the hydraulic cylinder 6 is designed as a differential cylinder, the delivery volume ratio of the two pumps of the pump assembly 2 is adapted as accurately as possible to the differential cylinder. The differential oil quantity arising during the travel of the hydraulic cylinder 6 may be compensated via the corresponding suction lines connected to the collecting and equalizing tank 1, or a small oscillating volume at the reservoir 5. With respect to the configuration in the FIGURE, the pump volume of the upper pump may be larger than required because the excess quantity hydraulic fluid is pushed into the reservoir via the check valve 14 when the hydraulic cylinder 6 is closed. In the other direction of rotation of the shaft, the excess quantity is provided by the collecting and equalizing tank 1 and then received again. Clearly, in this way, the reservoir 5 is slightly charged with every movement of the hydraulic cylinder 6 in the closing direction. An overpressure valve (not shown in the FIGURE) or an optional additional consumer (connection 40) may be used to prevent overcharging of the reservoir 5.

After reaching the desired position, the

pilot valves

91, 92 are de-energized, and as a result, the cylinder 6 may again be held in its position again without applying energy. Notably, compared to conventional systems, the reservoir volume is no longer used for control purposes, as this task is completely performed by the pump assembly 2. Thus the reservoir volume, and consequently the reservoir size, may be drastically reduced. This also leads to a smaller collecting and equalizing tank 1, which reduces costs overall.

In order to protect the apparatus against impermissibly high pressure,

pressure relief valves

30, 31 may optionally be installed, one of which is respectively connected to each of the lines between the unlockable check valves (81, 81) and the emergency shut-off slide (71).

Emergency Shut-Off:

In order to ensure a safe shut-off of the hydraulic machine in the event of a fault, an emergency shut-off function is implemented that allows the system to be shut down without power supply (or in the event of a fault in the variable speed drive 3). In the event of an emergency shut-off, the emergency shut-off solenoid valve 72, which is permanently energized during operation, is de-energized, whereupon the emergency shut-off slide 71 is pushed into the other position in relation to the FIGURE. Thus, the “quasi-closed” hydraulic control circuit becomes an open circuit. The reservoir 5 is connected to the closing side of the hydraulic cylinder 6, the opening side now being discharged into the collecting and equalizing tank 1. At the same time, the pressure to the

pilot valves

91, 92 is relieved, so that the

unlockable check valves

81, 82 close.

In this open circuit, the reservoir 5 delivers a defined volume within defined pressure limits. A defined closing time may therefore be safely set with the aid of the basic throttle 10 and an

additional throttle

11 or 12 connected in series. If two

additional throttles

11 and 12 are used that are actually connected in series, this results in greater flexibility and greater robustness against, for example, a line break in the line between the emergency shut-off slide 71 and the reservoir 1 [sic], because the additional throttling effect is distributed over two throttles, of which only one (12) fails due to the line break.

When the hydraulic cylinder 6 travels, a dynamic pressure is created by the basic throttle 10 against which the pump assembly 2 acts and which must therefore be kept within certain limits (required nominal pressures of the lines and components, power of the pump drive 3, etc.). The individual throttles 10, 11, 12 accordingly require an individualized design. It must be a priority, in this regard, that the greatest possible proportion of the total throttling effect, and thus the closing time, must always be realized via the basic throttle 10. One of the reasons for this is that the arrangement of the basic throttle 10 directly in the opening side of the hydraulic cylinder 6 ensures a limitation of the closing time even for example in the event of a line break on the opening control side (i.e. a break in the line between the basic throttle 10 and the pump assembly 2).

Because the reservoir 5 is connected with the closing side of the cylinder 6 via the line with the check valve 14, even in the fault state in which the pump drive 3 assumes a higher speed than the defined maximum speed in the closing direction, the actuating time would be limited via the basic throttle 10. Only the pressure in the reservoir 5 would slowly increase due to an increased pump flow rate.

Reservoir Charging Function:

The filling level or system pressure of the reservoir 5 is monitored by means of appropriate level and pressure sensors. The oil volume and pressure in the reservoir 5 are kept at a defined maximum level during operation, irrespective of the position of the hydraulic cylinder 6. This level will not change or will change very little during operation if a synchronous cylinder is used (see above) or if no other external consumers are connected to the reservoir 5 via the optional connection point 40.

To enable the use of differential cylinders and external consumers, however, the reservoir may be charged during operation by means of the variable speed drive 3 and the electrically controlled

unlockable check valves

81 and 82, independently of the position of the hydraulic cylinder 6.

For this purpose, the

pilot solenoid valves

91 and 92 must be in the de-energized state, which also causes the

unlockable check valves

81 and 82 to be closed. The pump assembly 2 is now controlled in such a way that it pumps toward the closing side of the hydraulic cylinder 6. The position of the cylinder 6 does not change as a result, because the unlockable check valve 81 in the opening side of the hydraulic cylinder 6 is closed and therefore no oil may escape from the hydraulic cylinder 6. In the closing direction, however, the flow may pass through the check valve 82, and as a result, the pressure is increased and the reservoir 5 is charged via the line with the check valve 14. The differential oil quantity required for this is drawn in by the pump assembly 2 via a corresponding line from the collecting and equalizing tank 1. Charging works analogously if the line with the check valve 14 is connected to the line from the pump assembly 2 to the opening side of the hydraulic cylinder 6. For this, however, the pump assembly 2 must be controlled in such a way that it pumps toward the opening side of the hydraulic cylinder 6.

If a control process becomes necessary during charging, it takes priority over the charging process. This is not a problem from a safety standpoint, because a corresponding switching point for level and pressure monitoring ensures that there is always sufficient volume or pressure in the reservoir for the possibility of an emergency shut-off. Control movements may be carried out again immediately as a result of energizing the

pilot valves

91 and 92 and controlling the variable speed drive 3.

The reservoir charging function is active during normal operation and when the hydraulic machine is idle. In this way, it is ensured that there is always the appropriate safety margin for a possible emergency shut-off, and that it is available as quickly as possible at startup of the hydraulic machine.

Optional Quick-Close Function:

Normally, with regard to the size, speed and output of the pumps, the pump assembly 2 is designed in such a way that the opening and closing times of the hydraulic cylinder 6 that the respective use case requires may be moved solely via the pump drive 3.

For example, if large hydraulic cylinder volumes are available and the opening times may be considerably longer in contrast to the closing times, in order to keep the dimensions of the pump assembly 2 and the pump drive 3 as small as possible (space conditions, spare part costs, etc.), these may be designed in such a way that the hydraulic cylinder 6 may only be moved with the minimum opening time.

To then achieve a faster closing time (for example in the case of a hydropower controller during load shedding), the quick-close solenoid valve 20 is optionally provided, which is located in the same hydraulic line as the emergency shut-off solenoid valve 72. By connecting this valve 20, the reservoir volume may now be used for closing. The quick-close solenoid valve 20 is energized, and as a result, the emergency shut-off slide 71 is pushed into the other position in relation to the FIGURE. At the same time, the pressure supply to the

pilot valves

91 and 92 is hydraulically separated, so that in the control lines, the

unlockable check valves

81 and 82 also close. The pump assembly 2 is thus completely decoupled from the hydraulic cylinder 6.

In order to be able to synchronize the machine again, for example after load shedding in a water turbine, the quick-close valve 20 is de-energized again when a defined opening is reached. At the same time, the “fine control” is now transferred back to the variable speed pump drive 3, and the machine may be synchronized once again.

Because the reservoir 5 is emptied by a quick close, the reservoir 5 should be refilled as quickly as possible in this situation. Because the controller is active during and after completion of the synchronization process and after the turbine has started up again at the corresponding cylinder position, and the pump assembly 2 therefore cannot be used to charge the reservoir 5, the following procedure may be followed in this case:

When the pump assembly 2 drives the hydraulic cylinder 6 onto the corresponding opening, the

pilot solenoid valves

91 and 92 are in the de-energized state. This allows the medium to flow through the check valve 82 on the opening side, while the check valve 81 on the closing side remains blocked. As a result, the oil displaced from the hydraulic cylinder 6 during the drive-on process is pushed back into the reservoir 5 via the line with the check valve 14. The pump assembly 2 draws in the quantity of oil required for this purpose via the corresponding line from the collecting and equalizing tank 1. When the reservoir 5 has reached its nominal filling level, the

corresponding check valves

81 and 82 are opened and the hydraulic cylinder 6 may be moved to its end position without further filling of the reservoir 5.

Heating Function:

When the oil temperature falls below a defined value, control is initiated via the pump assembly 2, by opening the

unlockable check valves

81 and 82. This generates heat that is used to heat the system.

Claims

The invention claimed is:

1. An apparatus for controlling a hydraulic machine, the apparatus comprising:

a pump assembly having two pumps, including a first pump and a second pump, with reversible pumping directions;

a variable-speed pump drive connected to said pump assembly and configured for driving said pumps in either pumping direction;

a reservoir, a hydraulic cylinder, first fluid lines connecting said two pumps to said hydraulic cylinder, a collecting and equalizing tank, and an emergency shut-off solenoid valve;

an emergency shut-off slide having a first position and a second position, said emergency shut-off slide being configured, and so connected to said pump assembly, said hydraulic cylinder, said collecting and equalizing tank, and said reservoir that, in the first position of said emergency shut-off slide, a first port of said first pump is connected with an opening side of said hydraulic cylinder and a first port of said second pump is connected with a closing side of said hydraulic cylinder, and said reservoir and said collecting and equalizing tank are decoupled from said hydraulic cylinder, and in the second position of said emergency shut-off slide said collecting and equalizing tank is connected with the opening side of said hydraulic cylinder and said reservoir is connected with the closing side and said pump assembly is decoupled from said hydraulic cylinder, and wherein, remaining ports of said pumps are each respectively connected to said collecting and equalizing tank, so that in a first drive direction of said reversible directions of said pump drive, said first pump pumps hydraulic fluid from said collecting and equalizing tank toward said hydraulic cylinder and said second pump pumps hydraulic fluid from said hydraulic cylinder into said collecting and equalizing tank;

two unlockable check valves respectively connected in said first fluid lines from said pumps to said hydraulic cylinder and oriented such that in any state said unlockable check valves allow hydraulic fluid to pass towards said hydraulic cylinder;

second fluid lines connecting said reservoir respectively to said unlockable check valves and said emergency shut-off slide, in order to be able to unlock said unlockable check valves and hold said emergency shut-off slide in the first position, said second fluid lines defining, at least over a given partial length, a given single line section, in which said emergency shut-off solenoid valve is arranged n in order to be permanently energized during an operation of the apparatus and to be continuous in an energized position;

two electrically controllable pilot valves for unlocking said unlockable check valves, said pilot valves being connected in separately extending sections of said second fluid lines from said reservoir to said unlockable check valves;

at least two throttles including a first throttle disposed in line in said first fluid lines to the opening side of said hydraulic cylinder in order to allow hydraulic fluid to flow through during each movement of said hydraulic cylinder, and at least one second throttle disposed either in a line section between said collecting and equalizing tank and said emergency shut-off slide or in a line section between said reservoir and said emergency shut-off slide, and a further check valve arranged in a line section that connects one of said first lines from said pump assembly to said hydraulic cylinder with said reservoir, so that no hydraulic fluid from said reservoir can pass through said further check valve.

2. The apparatus according to claim 1, wherein said at least one second throttle includes a throttle in the line section between said collecting and equalizing tank and said emergency shut-off slide and a throttle the line section between said reservoir and said emergency shut-off slide.

3. The apparatus according to claim 1, further comprising two pressure relief valves each respectively connected to one of said first fluid lines between said unlockable check valves and said emergency shut-off slide.

4. The apparatus according to claim 1, further comprising an electrically controllable solenoid valve arranged in said given single line section together with said emergency shut-off solenoid valve and configured, upon being electrically energized, to push said emergency shut-off slide into the second position and to decouple said pilot valves from said reservoir.

5. The apparatus according to claim 1, further comprising a connection point for additional emergency shut-off valves arranged in said given single line section together with said emergency shut-off solenoid valve.

6. The apparatus according to claim 1, further comprising a connection point for additional consumers of hydraulic fluid arranged in a line section from said reservoir to said emergency shut-off slide.

7. The apparatus according to claim 1, wherein said hydraulic cylinder is a synchronous cylinder, and said pumps of said pump assembly are configured to pump an equal quantity of hydraulic fluid per revolution.

8. The apparatus according to claim 1, wherein said hydraulic cylinder is a differential cylinder, and said pumps of said pump assembly are configured to pump mutually different quantities of hydraulic fluid per revolution, and wherein a delivery ratio is adapted to a volume ratio of said hydraulic cylinder with respect to the closing side and the opening side.